Do it already!
My only regret is waiting so long to buy one of these mattresses. I picked this one because it is firm, but at the same time the top inch or so allows your body to meld into the mattress. There are no pressure points, no stiffness in the mornings, and I can't feel it if my wife tosses & turns at night. She's oblivious to me doing the same. My existing queen sized sheets & bedding were fully compatible.